JointVisual.hh

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/*
 * Copyright (C) 2012 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/

#ifndef GAZEBO_RENDERING_JOINTVISUAL_HH_
#define GAZEBO_RENDERING_JOINTVISUAL_HH_

#include <string>

#include <ignition/math/Pose3.hh>

#include "gazebo/msgs/MessageTypes.hh"
#include "gazebo/rendering/Visual.hh"
#include "gazebo/util/system.hh"

namespace gazebo
{
  namespace rendering
  {

    class GZ_RENDERING_VISIBLE JointVisual : public Visual
    {
      public: JointVisual(const std::string &_name, VisualPtr _vis);

      public: virtual ~JointVisual();

      public: void Load(ConstJointPtr &_msg);
      using Visual::Load;

      public: virtual void Fini();

      public: void Load(ConstJointPtr &_msg,
                        const ignition::math::Pose3d &_worldPose);

      public: ArrowVisualPtr CreateAxis(const ignition::math::Vector3d &_axis,
          const bool _useParentFrame, const msgs::Joint::Type &_type);

      // Documentation Inherited.
      public: virtual void SetVisible(bool _visible, bool _cascade = true);

      public: void UpdateFromMsg(ConstJointPtr &_msg);

      public: void UpdateAxis(ArrowVisualPtr _arrowVisual,
          const ignition::math::Vector3d &_axis, const bool _useParentFrame,
          const msgs::Joint::Type &_type);

      public: JointVisualPtr GetParentAxisVisual() const;

      public: ArrowVisualPtr GetArrowVisual() const;
    };
  }
}
#endif